NONLINEAR FEEDBACK CONTROL OF TWO-WHEELED SELF-BALANCING ROBOT MOVING ON THE SLOPE
Vol. 60 No. 60 (2019), Science - Technology
Vol. 60 No. 60 (2019)

NONLINEAR FEEDBACK CONTROL OF TWO-WHEELED SELF-BALANCING ROBOT MOVING ON THE SLOPE

Science - Technology
Published 2022-06-13
KHIEM NGUYEN DINH
Mechanical Engineering Institute, Vietnam Maritime University
CUONG HOANG MANH
Mechanical Engineering Institute, Vietnam Maritime University
HAI NGUYEN HOANG
Mechanical Engineering Institute, Vietnam Maritime University
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Keywords

Dynamics, control, Lagrange, feedback, nonlinear feedback. Động lực học, điều khiển, phương trình Lagrange, hồi tiếp, hồi tiếp phi tuyến.

How to Cite

NGUYỄN ĐÌNH, K., HOÀNG MẠNH, C., & NGUYỄN HOÀNG, H. (2022). NONLINEAR FEEDBACK CONTROL OF TWO-WHEELED SELF-BALANCING ROBOT MOVING ON THE SLOPE. Journal of Marine Science and Technology, 60(60), 32–35. Retrieved from https://jmst.vimaru.edu.vn/index.php/tckhcnhh/article/view/284
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Abstract

This paper focuses on establishing dynamic model and control design for two-wheeled self-balancing car running on slope. First, the motion equation of the system is obtained by using Largange II formulation. The differential equations of motion of the robot play a vital role in designing controller. In this paper, results demonstrate how effective controller is.

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